US20040016309A1 - Device for the dynamic measurement of an object's relative position - Google Patents

Device for the dynamic measurement of an object's relative position Download PDF

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Publication number
US20040016309A1
US20040016309A1 US10/627,754 US62775403A US2004016309A1 US 20040016309 A1 US20040016309 A1 US 20040016309A1 US 62775403 A US62775403 A US 62775403A US 2004016309 A1 US2004016309 A1 US 2004016309A1
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United States
Prior art keywords
vehicle
relative position
measurement
articulated arm
dynamic
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
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US10/627,754
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English (en)
Inventor
Alexandre Catala Garcia
Sebastien Hoppenot
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Idiada Automotive Technology SA
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Idiada Automotive Technology SA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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Assigned to IDIADA AUTOMOTIVE TECHNOLOGY, S.A. reassignment IDIADA AUTOMOTIVE TECHNOLOGY, S.A. ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: GARCIA, ALEXANDRE CATALA, HOPPENOT, SEBASTIEN
Publication of US20040016309A1 publication Critical patent/US20040016309A1/en
Abandoned legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/004—Measuring arrangements characterised by the use of mechanical techniques for measuring coordinates of points
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
    • G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
    • G01B5/255—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing wheel alignment
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/16—Active or passive device attached to the chassis of a vehicle
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B2210/00—Aspects not specifically covered by any group under G01B, e.g. of wheel alignment, caliper-like sensors
    • G01B2210/10—Wheel alignment
    • G01B2210/20—Vehicle in a state of translatory motion

Definitions

  • the invention relates to a device for the dynamic measurement of an object's relative position, particularly applicable to the dynamic measurement of the relative position of a vehicle wheel.
  • Embodiments proximate to the object of the invention do not address the needs of the automotive industry, for example, where the different systems for measuring the position of the vehicle's wheels with respect to the chassis, or a reference point on it, either take static readings, with the vehicle motionless, or are unable to measure the wheel position as well as the rotation and inclination angles (convergence and descent respectively) of it, all using the same system
  • Devices capable of detecting or measuring other parameters, as well as the geometric position of the vehicle's wheels use systems based on optical observations, such as EP 1203927, or systems such as in US 2002/0018218, based on light beam sources and sensors that capture the reflected beams.
  • the current mechanical devices as well as not being able to determine all of the required parameters, are equipped with telescopic arms that reduce the accuracy of the final measurements, as the final results are based on trigonometric calculations between the different sides of a triangle and the values of the sines and cosines of the defined angles within, based on known mathematical ratios.
  • the device for the dynamic measurement of an object's relative position acts to connect said reference and the object whose coordinates and relative position are to be determined.
  • the device for the dynamic measurement of an object's relative position is characterised in that it comprises an articulated mechanical arm with five degrees of freedom and five angular positioned sensors that allow measurement of the three spatial coordinates, X, Y and Z of a point on the object and the measurement of the inclination angles ⁇ (convergence) and ⁇ (descent) that define a plane of symmetry for the object with respect to a reference point.
  • the articulated arm with five degrees of freedom consists of: a rotational joint, about an imaginary axis, acting as a connection between the reference point and the articulated arm through a first working part; three rotational joints about 3 imaginary axes, parallel to each other, with the same direction, which act as a connection between the first working part and the next three.
  • Another joint about another imaginary axis connects the last two working parts of the articulated arm.
  • the sensors located in each of the rotational joints of the device also capture the absolute angular position based on optical phenomena.
  • the device is adapted to be installed on a car, in such a way that the reference point comprises a fixing device that can be attached to a fixed point on the vehicle, and the furthest working part of the articulated arm comprises an adaptor, connected using a rotating axle, which can be coupled to one of the vehicle's wheels so that the dynamic measurement device determines the relative position with respect to a fixed point on the vehicle and allows the study of the dynamic behaviour of the running gear in different driving conditions.
  • a new procedure to determine the dynamic behaviour of a passenger vehicle is put forward, based on the measurement of the relative position of its wheels and it is characterised in that it uses at least one device for the dynamic measurement of an object's relative position, each device being attached to each of the vehicle's wheels.
  • the device for the dynamic measurement of an object's relative position provides a precise, lightweight tool with a small footprint, very useful in the study of the behaviour of the different elements associated with the wheels of a vehicle such as steering, suspension, braking systems, etc, both on the move and under different driving conditions.
  • FIG. 1 is a perspective view of the device for the dynamic measurement of an object's relative position.
  • FIG. 2 is a perspective view of the device in FIG. 1, installed on a vehicle.
  • FIG. 3 is an illustrative diagram for the value of the convergence angle ( ⁇ ).
  • FIG. 4 is an illustrative diagram for the value of the descent angle ( ⁇ ).
  • the device represented is based on a metal articulated arm ( 16 ) consisting of five working parts ( 11 , 12 , 13 , 14 and 15 ), made of a lightweight material such as aluminium. Each of the articulated arm's working parts is connected to the next by an articulated rotational joint. In this way, the articulated rotational joint ( 22 ) acts about an imaginary axis ( 2 ) and connects the working parts ( 11 ) and ( 12 ), giving the device a degree of freedom of movement.
  • the articulated rotational joint ( 23 ) connects ( 12 ) and ( 13 ) about an imaginary axis ( 3 )
  • the rotational articulated joint ( 24 ) connects ( 13 ) and ( 14 ) about the imaginary axis ( 4 )
  • the articulated rotational joint ( 24 ) connects ( 14 ) and ( 15 ) about the imaginary axis ( 5 ).
  • the device's fifth degree of freedom is provided by the rotational joint ( 21 ), which also connects the articulated arm ( 16 ), via a working part ( 11 ), with the reference point ( 10 ), about an imaginary axis ( 1 ).
  • the plan in question simulates the wheel of a vehicle and the angles to be determined are the angle of rotation of the wheels, which determines the steering of the vehicle, denoted by the convergence angle ⁇ , and the inclination with respect to the horizontal, denoted by the descent angle ⁇ .
  • the wheels ( 27 ) of a vehicle ( 26 ) are represented schematically for a clearer view of the measurement angles, FIG. 3 being a side elevation of the vehicle and FIG. 4 a frontal view of one of the vehicle's wheels.
  • the sensors In order to obtain a measurement of the aforementioned parameters (position and angles), the sensors ( 31 , 32 , 33 , 34 and 35 ), which capture absolute angular position based on optical phenomena (commonly called encoders, by those skilled in the art), coupled to the joints ( 21 , 22 , 23 , 24 and 25 ) communicate to an external system, not shown, the position or degree of rotation of each of the joints with respect to an initial circumstance or for a period of time. With the information from the sensors and from the device parameters (the lengths of its working parts), the spatial position of a point on the wheel can be determined, as well as the inclinations from the plane representative thereof, using mathematical calculations.
  • the adaptor ( 17 ) is coupled to a wheel ( 18 ) of the vehicle and the working part ( 15 ) of the articulated arm, via a rotational axle (see FIG. 2).
  • said axle could be coupled with a sensor to measure the rotational speed of the wheel or the number of revolutions per unit time.
  • the reference point ( 10 ) joined to the vehicle, comprises a fixing device ( 9 ) that allows direct coupling to a fixed point on the vehicle, which, in the representation, is a point on the bodywork ( 8 ).
  • the geometry of the device is optimised so that the articulated arm adapts perfectly to the vehicle's wheel movements.
  • the longitudinal dimensions of each of the working parts, along with the position of each of the joints give a final device that offers no resistance to the wheel's movement and that adapts perfectly to the course of the joint between the arm and the wheel.

Landscapes

  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Length Measuring Devices By Optical Means (AREA)
US10/627,754 2002-07-29 2003-07-28 Device for the dynamic measurement of an object's relative position Abandoned US20040016309A1 (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
ESP200201780 2002-07-29
ES200201780A ES2212726B1 (es) 2002-07-29 2002-07-29 Dispositivo de medicion dinamica de la posicion relativa de un objeto-.

Publications (1)

Publication Number Publication Date
US20040016309A1 true US20040016309A1 (en) 2004-01-29

Family

ID=30011374

Family Applications (1)

Application Number Title Priority Date Filing Date
US10/627,754 Abandoned US20040016309A1 (en) 2002-07-29 2003-07-28 Device for the dynamic measurement of an object's relative position

Country Status (3)

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US (1) US20040016309A1 (de)
EP (1) EP1387144A1 (de)
ES (1) ES2212726B1 (de)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040187332A1 (en) * 2003-02-28 2004-09-30 Akira Kikuchi System and method for measuring coordinate using multi-joint arm
US20100109975A1 (en) * 2008-10-30 2010-05-06 Honeywell International Inc. Method and system for operating a near-to-eye display
US20130190969A1 (en) * 2012-01-21 2013-07-25 Mrs. Elena Harrill Vehicle Integrated Wheel Alignment Monitoring System
CN103822653A (zh) * 2014-02-28 2014-05-28 中铁隧道集团有限公司 一种用于收敛量测时测量仪器的安装支架
US20140338436A1 (en) * 2013-05-14 2014-11-20 Honda Motor Co., Ltd. Automated steering centering assembly
CN104476329A (zh) * 2014-12-12 2015-04-01 贵州黎阳航空动力有限公司 一种机械工件加工找正基准的装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US7797849B2 (en) * 2007-10-31 2010-09-21 Immersion Corporation Portable metrology device
US9679499B2 (en) 2008-09-15 2017-06-13 Immersion Medical, Inc. Systems and methods for sensing hand motion by measuring remote displacement

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4176463A (en) * 1978-06-14 1979-12-04 Ringle Gerald D Wheel alignment gauge assembly and adapter therefor
US4676002A (en) * 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
US5029395A (en) * 1987-11-23 1991-07-09 Hunter Engineering Company Electronically aided compensation apparatus and method
US5230623A (en) * 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
US5561244A (en) * 1995-03-10 1996-10-01 Bridgestone/Firestone, Inc. Method and apparatus for measuring the dynamic camber of vehicle tires
US5781286A (en) * 1995-11-14 1998-07-14 Knestel Electronik Gmbh Method and apparatus for measurement of axle and wheel positions of motor vehicles
US5794356A (en) * 1993-02-23 1998-08-18 Faro Technologies, Inc. Three dimensional coordinate measuring apparatus
US20030177653A1 (en) * 2002-03-19 2003-09-25 Romain Granger Sensor for a machine for measuring three-dimensional coordinates
US20040055169A1 (en) * 2000-12-13 2004-03-25 Akira Hirano Wheel alignment measuring method and apparatus

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3432781A1 (de) * 1984-09-06 1986-03-13 Bayerische Motoren Werke AG, 8000 München Messvorrichtung, insbesondere zur bestimmung der radstellungen eines kraftfahrzeugs im fahrbetrieb
DE3740777C1 (en) * 1987-12-02 1989-02-23 Ford Werke Ag Device for dynamic axle measurement on motor vehicles
HUT62087A (en) * 1991-05-13 1993-03-29 Gepjarmuejavito Kisszoevetkeze Device for checking angle and a bench for checking characteristics of the motor vehicles
US5701140A (en) * 1993-07-16 1997-12-23 Immersion Human Interface Corp. Method and apparatus for providing a cursor control interface with force feedback
US5829148A (en) * 1996-04-23 1998-11-03 Eaton; Homer L. Spatial measuring device

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US4176463A (en) * 1978-06-14 1979-12-04 Ringle Gerald D Wheel alignment gauge assembly and adapter therefor
US4676002A (en) * 1984-06-25 1987-06-30 Slocum Alexander H Mechanisms to determine position and orientation in space
US5029395A (en) * 1987-11-23 1991-07-09 Hunter Engineering Company Electronically aided compensation apparatus and method
US5230623A (en) * 1991-12-10 1993-07-27 Radionics, Inc. Operating pointer with interactive computergraphics
US5794356A (en) * 1993-02-23 1998-08-18 Faro Technologies, Inc. Three dimensional coordinate measuring apparatus
US5561244A (en) * 1995-03-10 1996-10-01 Bridgestone/Firestone, Inc. Method and apparatus for measuring the dynamic camber of vehicle tires
US5781286A (en) * 1995-11-14 1998-07-14 Knestel Electronik Gmbh Method and apparatus for measurement of axle and wheel positions of motor vehicles
US20040055169A1 (en) * 2000-12-13 2004-03-25 Akira Hirano Wheel alignment measuring method and apparatus
US20030177653A1 (en) * 2002-03-19 2003-09-25 Romain Granger Sensor for a machine for measuring three-dimensional coordinates

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20040187332A1 (en) * 2003-02-28 2004-09-30 Akira Kikuchi System and method for measuring coordinate using multi-joint arm
US7051447B2 (en) * 2003-02-28 2006-05-30 Kosaka Laboratory Ltd. System and method for measuring coordinate using multi-joint arm
US20100109975A1 (en) * 2008-10-30 2010-05-06 Honeywell International Inc. Method and system for operating a near-to-eye display
US8963804B2 (en) * 2008-10-30 2015-02-24 Honeywell International Inc. Method and system for operating a near-to-eye display
US20130190969A1 (en) * 2012-01-21 2013-07-25 Mrs. Elena Harrill Vehicle Integrated Wheel Alignment Monitoring System
US9464892B2 (en) * 2012-01-21 2016-10-11 Harrill Mitchell C Vehicle integrated wheel alignment monitoring system
US20140338436A1 (en) * 2013-05-14 2014-11-20 Honda Motor Co., Ltd. Automated steering centering assembly
US9095945B2 (en) * 2013-05-14 2015-08-04 Honda Motor Co., Ltd. Automated steering centering assembly
CN103822653A (zh) * 2014-02-28 2014-05-28 中铁隧道集团有限公司 一种用于收敛量测时测量仪器的安装支架
CN104476329A (zh) * 2014-12-12 2015-04-01 贵州黎阳航空动力有限公司 一种机械工件加工找正基准的装置

Also Published As

Publication number Publication date
ES2212726B1 (es) 2005-10-16
ES2212726A1 (es) 2004-07-16
EP1387144A1 (de) 2004-02-04

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AS Assignment

Owner name: IDIADA AUTOMOTIVE TECHNOLOGY, S.A., SPAIN

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:GARCIA, ALEXANDRE CATALA;HOPPENOT, SEBASTIEN;REEL/FRAME:014339/0857

Effective date: 20030630

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION